Cleaning system for a sensor, cleaning method and vehicle

Abstract

Embodiments of this disclosure provide a cleaning system, cleaning method, and vehicle for a sensor. The cleaning system includes: a cleaning device comprising an air pump assembly, an air tank assembly, a valve assembly, and a plurality of nozzle assemblies arranged adjacent to a sensor; and a cleaning controller coupled to the cleaning device and configured to: determine whether the air pressure in the air tank assembly is within a predetermined threshold range; in response to determining that the air pressure is below a lower limit of the threshold range, cause the air pump assembly to open and the valve assembly to close such that the air pressure in the air tank assembly is within the threshold range; obtain a cleaning command for the sensor from a vehicle controller; control the on / off timing of the valve assembly based on the on / off sequence corresponding to the cleaning command, so that the plurality of nozzle assemblies clean the surface of the sensor with gas from the air tank assembly during valve assembly on; and intermittently open and close the air pump assembly to maintain the air pressure in the air tank assembly within the threshold range during cleaning.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of vehicles, and more specifically, to cleaning systems, cleaning methods, and vehicles for sensors. Background Technology

[0002] In the context of modern automotive technology development, sensors have become key components for enhancing vehicle intelligence and safety. With the widespread application of Advanced Driver Assistance Systems (ADAS), autonomous driving technology, and onboard perception systems, vehicle sensors play a crucial role in real-time environmental perception, hazard warning, and assisted driving decision-making. Key perception devices such as cameras, millimeter-wave radar, lidar, and ultrasonic sensors need to maintain high precision and stability to ensure their accuracy in complex road conditions and variable weather. However, these precision sensors are highly susceptible to environmental interference, such as road dust, mud, rain, snow, frost, and the deposition of other pollutants. These factors can significantly reduce sensor detection performance and signal quality, thereby affecting vehicle safety and the driving experience. Summary of the Invention

[0003] In a first aspect of this disclosure, a cleaning system for a sensor is provided. The cleaning system includes a cleaning device comprising a pump assembly, a gas tank assembly, a valve assembly, and a plurality of nozzle assemblies connected in series, the nozzle assemblies being arranged adjacent to the sensor; and a cleaning controller coupled to the cleaning device and configured to: determine whether the gas pressure in the gas tank assembly is within a predetermined threshold range; in response to determining that the gas pressure is below a lower limit of the threshold range, cause the pump assembly to open and the valve assembly to close such that the gas pressure in the gas tank assembly is within the threshold range; obtain a cleaning command for the sensor from a vehicle controller; control the on / off timing of the valve assembly based on the on / off sequence corresponding to the cleaning command, so that the plurality of nozzle assemblies clean the surface of the sensor with gas from the gas tank assembly during valve assembly on; and cause the pump assembly to open and close intermittently to maintain the gas pressure in the gas tank assembly within the threshold range during cleaning.

[0004] When the vehicle needs to perform self-checks on the cleaning system or control air jets, the cleaning controller opens and closes the control valve assembly at a certain frequency and monitors the air pressure in the air tank assembly in real time. If necessary, it can control the operation and shutdown of the air pump assembly. The control frequency of the valve assembly, the monitoring of the air pressure in the air tank assembly, and the control of the air pump assembly together constitute the cleaning system control strategy. The entire cleaning system is designed following the principles of modularity and intelligence. Through air circuit design and intelligent control, the cleaning system can provide reliable cleaning services for key sensors under various complex operating conditions of the vehicle, ensuring that the sensors always maintain optimal functional status. This improves the user experience. Further benefits according to the embodiments of this disclosure will be further described below.

[0005] In some embodiments, the cleaning controller is further configured to: receive operational data about the air pump assembly, the air tank assembly, and the valve assembly, the operational data including at least one of power supply data, pressure data, and temperature data; determine, based on the operational data, whether there is an abnormality in at least one of the air pump assembly, the air tank assembly, and the valve assembly; and, in response to determining that there is an abnormality in at least one of the air pump assembly, the air tank assembly, and the valve assembly, send an alarm signal to the vehicle controller.

[0006] In some embodiments, the cleaning controller is further configured to: continuously acquire the air pressure value of the air tank assembly for a predetermined time period when the pressure of the air tank assembly has reached a threshold range and the valve assembly remains closed; and send an alarm signal to the vehicle controller in response to determining that the air pressure value of the air tank assembly acquired within the predetermined time period is lower than the lower limit of the threshold range or higher than the upper limit of the threshold range.

[0007] In some embodiments, the cleaning controller is further configured to: acquire cleaning instructions for the sensors from vehicle sensors, wherein the cleaning instructions include an indication to clean at least one designated sensor among a plurality of sensors; and control the on / off state of at least a portion of the electrically controlled valves in the valve assembly based on the cleaning instructions, the at least a portion of the electrically controlled valves corresponding to at least one designated sensor, so that at least one designated sensor is cleaned.

[0008] In some embodiments, the cleaning controller is further configured to: power off or enter a dormant state for the cleaning device in response to determining that at least one of the following conditions is met: the vehicle is turned off or powered off; no cleaning command is received from the vehicle control within a predetermined time.

[0009] In a second aspect of this disclosure, a method for cleaning a sensor is provided. The method includes: determining whether the gas pressure in a gas reservoir assembly of a cleaning device is within a predetermined threshold range; in response to determining that the gas pressure is below a lower limit of the threshold range, turning on an air pump assembly of the cleaning device and turning off a valve assembly of the cleaning device to bring the gas pressure in the gas reservoir assembly within the threshold range; obtaining a cleaning command for the sensor from a vehicle controller, controlling the on / off timing of the valve assembly based on the cleaning command, so that a plurality of nozzle assemblies clean the surface of the sensor with gas from the gas reservoir assembly during valve assembly on-time; and intermittently turning the air pump assembly on and off to maintain the gas pressure in the gas reservoir assembly within the threshold range during cleaning.

[0010] In some embodiments, the method further includes: receiving operational data about the air pump assembly, the air tank assembly, and the valve assembly, the operational data including at least one of power supply data, pressure data, and temperature data; determining, based on the operational data, whether there is an abnormality in at least one of the air pump assembly, the air tank assembly, and the valve assembly; and sending an alarm signal to the vehicle controller in response to determining that there is an abnormality in at least one of the air pump assembly, the air tank assembly, and the valve assembly.

[0011] In some embodiments, the method further includes: continuously acquiring the air pressure value of the air tank assembly for a predetermined time period while the pressure of the air tank assembly has reached a threshold range and the valve assembly remains closed; and sending an alarm signal to the vehicle controller in response to determining that the air pressure value of the air tank assembly acquired during the predetermined time period is lower than the lower limit of the threshold range or higher than the upper limit of the threshold range.

[0012] In some embodiments, controlling the on / off timing of the valve assembly based on the cleaning command includes: obtaining a cleaning command for a sensor from a vehicle sensor, wherein the cleaning command includes an indication to clean at least one designated sensor among a plurality of sensors; and controlling the on / off of at least a portion of the electronically controlled valves in the valve assembly based on the cleaning command, wherein the at least a portion of the electronically controlled valves corresponds to at least one designated sensor to clean at least one designated sensor.

[0013] In some embodiments, the method further includes: in response to determining that at least one of the following conditions is met, de-energizing or putting the cleaning device into a dormant state: the vehicle is turned off or de-energized; no cleaning command is received from vehicle control within a predetermined time.

[0014] In a third aspect of this disclosure, a vehicle is provided. The vehicle includes: a cleaning system according to the first aspect described above; a plurality of sensors; and a vehicle controller coupled to the plurality of sensors and the cleaning system, and configured to: acquire sensing data from the plurality of sensors; determine, based on the sensing data, whether at least some of the plurality of sensors need to be cleaned; in response to determining that at least some of the sensors need to be cleaned, generate a cleaning instruction for designated sensors that need to be cleaned, the cleaning instruction including on / off timing; and send the cleaning instruction to the cleaning sensors.

[0015] It should be understood that the content described in this summary section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0016] The above and other features, advantages, and aspects of various implementations of this disclosure will become more apparent in the following detailed description, taken in conjunction with the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0017] Figure 1 A simplified schematic diagram of a vehicle according to an embodiment of the present disclosure is shown;

[0018] Figures 2-4 A simplified schematic diagram of a cleaning system according to some embodiments of the present disclosure is shown;

[0019] Figure 5 A flowchart illustrating an example process for a cleaning method for a sensor according to some embodiments of the present disclosure is shown;

[0020] Figure 6 A flowchart of a method for cleaning a sensor according to an embodiment of the present disclosure is shown; and

[0021] Figure 7 A block diagram of an electronic device in which one or more embodiments of the present disclosure may be implemented is shown. Detailed Implementation

[0022] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0023] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below.

[0024] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information other than that necessary for basic functions will not affect the user's use of basic functions.

[0025] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0026] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure through appropriate means in accordance with relevant laws and regulations, and user authorization should be obtained.

[0027] For example, in response to receiving a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information, thereby enabling the user to choose whether to provide personal information to the software or hardware such as electronic devices, applications, servers or storage media that perform the operation of the technical solution disclosed herein, based on the prompt message.

[0028] As an optional but non-restrictive implementation, in response to a user's active request, a prompt message can be sent to the user, for example, via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose whether to "agree" or "disagree" to provide personal information to the electronic device.

[0029] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0030] The term "in response to" as used herein refers to a state in which a corresponding event occurs or a condition is satisfied. It will be understood that the timing of subsequent actions performed in response to such event or condition is not necessarily strongly correlated with the time when the event occurs or the condition is met. For example, in some cases, subsequent actions may be performed immediately upon the occurrence of the event or the fulfillment of the condition; while in others, they may be performed some time after the occurrence of the event or the fulfillment of the condition.

[0031] As briefly mentioned earlier, vehicle sensors, as a core component of autonomous driving technology, directly impact a vehicle's ability to perceive and make decisions about its environment. However, besides the limitations of the sensors themselves, external environmental factors also pose significant challenges to their detection capabilities. Specifically, complex road conditions (such as dust and mud) and severe weather conditions (such as rain, snow, and fog) can cause dirt or obstruction on sensor surfaces, significantly reducing their detection performance. These problems not only affect the sensors' accurate perception of the external environment but also adversely impact the safety and stability of autonomous vehicles. Therefore, optimizing the cleaning capabilities of vehicle sensors under dirty and adverse weather conditions has become a key direction for improving the practical application performance of autonomous driving technology.

[0032] Currently, cleaning technologies for vehicle sensors primarily employ low-pressure jet cleaning. However, this approach has significant drawbacks: due to the low jet pressure, the cleaning effect is limited, failing to effectively remove stubborn dirt such as mud, oil, or snow from the sensor surface. Therefore, traditional cleaning methods are inadequate in handling complex environmental conditions, impacting the sensor's detection capabilities in all weather conditions and scenarios, thus limiting the performance improvement of autonomous vehicles.

[0033] Embodiments of this disclosure provide a cleaning system and method for sensors, as well as a vehicle, to solve or at least partially solve the aforementioned problems or other potential problems present in conventional solutions.

[0034] Figure 1 A simplified schematic diagram of the vehicle is shown. (For example...) Figure 1 As shown, the vehicle according to embodiments of this disclosure generally includes a vehicle controller 202, sensors 201, and a cleaning system for the sensors 201. Sensors 201 may include, but are not limited to, lidar, millimeter-wave radar, long / medium / short-range cameras, infrared cameras, traffic light recognition cameras, fisheye cameras, and ultrasonic radar, etc. These sensors 201 play a crucial role in autonomous driving, driver assistance, and vehicle safety systems. Each sensor 201 has its unique optical and structural characteristics; therefore, the design of the cleaning system must be highly targeted and adaptable.

[0035] The types of contamination that may accumulate on the surface of sensor 201 can range from natural sediments to various forms of anthropogenic pollution. Natural contamination includes raindrops, water stains, dust, leaf debris, and mud; biological contamination includes mosquito and bird droppings, and even insect carcasses. Freezing and snow accumulation are also significant forms of contamination that severely affect the performance of sensor 201.

[0036] Different types of contaminants affect sensor 201 in different ways. For example, water droplets may cause optical refraction and scattering, reducing the detection accuracy of sensor 201; dust and dirt particles may directly block the optical or electromagnetic wave receiving surface of sensor 201, and in severe cases, completely interrupt the normal operation of sensor 201. Therefore, the cleaning system needs to be able to cope with these contaminants of different properties and provide targeted cleaning strategies.

[0037] The vehicle controller 202 is equipped with algorithms and data processing units, enabling it to receive and analyze signals from the sensors 201 in real time, continuously assess their cleaning needs, and generate cleaning instructions based on those needs. When dust, stains, or other impurities affecting sensing performance accumulate on the surface of the sensor 201, the controller will quickly identify and trigger a targeted cleaning process.

[0038] Of course, the vehicle controller 202 may have functions beyond those described above. In some embodiments, the vehicle sensor 201 may include the vehicle's domain controller or any other suitable controller, which can not only process the sensor 201 signals and generate cleaning instructions, but also use the sensor 201 signals to control various other functions of the vehicle. The embodiments disclosed herein do not limit this.

[0039] The cleaning system for cleaning sensor 201 includes a cleaning device and a cleaning controller 105. The cleaning device is a closed pneumatic system consisting of an air pump assembly 101, an air tank, a valve assembly 103, and multiple nozzle assemblies 104 connected in series. The air pump assembly 101 serves as the power source for the system, providing compressed gas to the air tank; the air tank plays a crucial role in storing and buffering the gas.

[0040] The air pump assembly 101 may include a single air pump or multiple air pumps connected in parallel, capable of stable operation in a pressure environment within a predetermined air pressure of 20 bar. It integrates multiple protection and diagnostic mechanisms, including temperature monitoring, short-circuit detection, open-circuit detection, and overcurrent protection. These functions not only ensure the safe operation of the air pump but also provide real-time feedback on the equipment's health status. The air pump control method is also flexible, employing two main modes: I / O drive or bus control. I / O drive modes include, but are not limited to, low-side drive, high-side drive, pulse width modulation (PWM) drive, and high-side driver (HSD) drive. Bus control modes may include, but are not limited to, Controller Area Network (CAN) bus, Local Interconnect Network (LIN) bus, Flexible Data Bus (FlexRay), Ethernet, Inter-Integrated Circuit Communication (IIC), and RS232 / 485.

[0041] The gas storage tank can have a high operating pressure range, such as up to 80 bar, and can be configured with active and passive pressure relief functions, as well as active and passive drainage mechanisms. For example, the gas storage tank can be equipped with a pressure relief valve that automatically opens to release pressure when the gas pressure in the tank exceeds a threshold, ensuring the safe use of the gas storage tank. In some embodiments, the pressure relief valve can be integrated with a drain valve to drain moisture from the gas storage tank during pressure relief or at any other appropriate time. The gas storage tank assembly 102 may also include a pressure sensor 201. The pressure sensor 201 can be coupled to the cleaning controller 105 in an appropriate manner, which may include the bus control mode or IO acquisition mode mentioned above. The IO acquisition mode may include, for example, analog-to-digital (AD) acquisition or digital acquisition. In addition, the gas storage tank assembly 102 may also have a separate controller to analyze and process this data and send it to the cleaning controller 105. In some embodiments, the data may also be sent directly to the cleaning controller 105 for analysis and processing. This diverse diagnostic approach ensures the stability and reliability of the system under various complex operating conditions.

[0042] Valve assembly 103 is the fluid control hub of the system, consisting of multiple electrically controlled valves, which precisely control the flow direction and on / off state of gas. The electrically controlled valves may include, for example, solenoid valves or distribution valves, and the embodiments of this disclosure are not limited thereto. In some embodiments, valve assembly 103 may include at least one inlet-outlet solenoid valve and / or at least one inlet-multiple-outlet solenoid valve.

[0043] Figures 2 to 4 A simplified schematic diagram of a cleaning system according to some embodiments of the present disclosure is shown, wherein dashed lines represent power supply, control, and diagnostic links, and solid lines represent air tubing and adapter links. Figure 2 The illustrated embodiment shows an example where valve assembly 103 includes a single inlet and outlet solenoid valve; Figure 3The illustrated embodiment shows an example of valve assembly 103 including a plurality of inlet and outlet solenoid valves, wherein a multi-way connector may be provided upstream of the plurality of inlet and outlet solenoid valves, and the number of the plurality of inlet and outlet solenoid valves may correspond to the number of nozzle assemblies 104. Figure 4 In the illustrated embodiment, valve assembly 103 is shown to include a single-inlet solenoid valve and a single-inlet multiple-outlet solenoid valve, wherein the single-inlet solenoid valve may be connected, for example, to a nozzle assembly 104 for cleaning sensors 201 at the rear of the vehicle, and the single-inlet multiple-outlet solenoid valve is connected to a plurality of nozzle assemblies 104 for cleaning a plurality of sensors 201 at the rear of the vehicle.

[0044] Valve assembly 103 can operate continuously within a predetermined pressure range (e.g., within 20 bar) and has fault diagnosis and protection functions, including temperature diagnosis and feedback, short circuit diagnosis and feedback, open circuit diagnosis and feedback, and overcurrent diagnosis and feedback. It also features over-temperature protection, short circuit protection, overcurrent protection, and open circuit protection. Furthermore, the control method for valve assembly 103 is flexible, allowing for either I / O drive or bus control. Valve assembly 103 may have a controller integrated within it. Alternatively, in some alternative embodiments, data from valve assembly 103 can be directly sent to cleaning controller 105 for analysis and processing.

[0045] Multiple nozzle assemblies 104 are arranged adjacent to the sensor 201 to ensure that the high-pressure cleaning airflow accurately targets the surface of the sensor 201. This design not only effectively removes dirt from the sensor surface but also minimizes mechanical interference with the sensor 201. The nozzle assemblies 104 can adjust the jet direction, airflow size, and jet shape according to different types of sensors 201. The nozzles are resistant to high pressure, high temperature, and light, enabling reliable operation in all scenarios and under all operating conditions within the vehicle. This highly customizable design allows the cleaning system to precisely address the cleaning needs of different types of sensors 201, such as LiDAR, millimeter-wave radar, and various cameras.

[0046] The cleaning controller 105 is the brain of the cleaning system, responsible for coordinating and managing the entire cleaning process. The cleaning controller 105 monitors the air pressure within the air tank. Through the pressure sensor 201 mounted on the air tank assembly 102, the cleaning controller 105 can detect in real time whether the air pressure is within a predetermined threshold range. When the air pressure falls below the lower limit of the threshold range, the cleaning controller 105 can activate the air pump assembly 101 and regulate the valve assembly 103 to restore the air pressure within the air tank to the threshold range.

[0047] The cleaning controller 105 is coupled to the vehicle controller 202 and receives and parses cleaning commands from the vehicle controller 202. As mentioned above, the vehicle controller 202 can acquire cleaning demand signals from various sensors 201 of the vehicle. The vehicle controller 202 can determine cleaning needs and cleaning commands based on anomalies detected by the sensors 201 themselves, such as surface dirt or optical interference. Based on the received cleaning commands, the cleaning controller 105 precisely controls the on / off state of the valve assembly 103, causing the nozzle to intermittently spray high-pressure gas from the gas tank within a specific time window, thereby achieving efficient cleaning of the sensor 201 surface.

[0048] When the vehicle needs to perform a self-check of the cleaning system or control the air jet, the cleaning controller 105 opens and closes the control valve assembly 103 at a certain frequency and monitors the air pressure in the air tank in real time. If necessary, it can control the operation and shutdown of the air pump assembly 101. The control frequency of the valve assembly 103, the monitoring of the air pressure in the air tank, and the control of the air pump assembly 101 by the cleaning controller 105 together constitute the cleaning system control strategy. The entire cleaning system is designed following the principles of modularity and intelligence. Through air circuit design and intelligent control, the cleaning system can provide reliable cleaning services for the key sensor 201 under various complex operating conditions of the vehicle, ensuring that the sensor 201 always maintains its optimal functional state.

[0049] Furthermore, the cleaning system disclosed herein can clean sensors in real time or on demand during the operation of the remote driving system, which not only improves cleaning efficiency but also does not interfere with the sensor's detection function, ensuring the normal operation of the sensor and the safety of the remote driving system.

[0050] Figure 5 The operation flow of the entire cleaning system is illustrated. In block 510, the cleaning system is powered on, including the air pump assembly 101, the air tank assembly 102 (e.g., pressure sensor 201), and the valve assembly 103. The power-on sequence of each component or air tank can be adapted and calibrated according to the vehicle's power-on procedure.

[0051] After the cleaning system is powered on, it will perform a self-test in box 520. The cleaning controller 105 will perform power supply abnormality diagnosis, pressure abnormality diagnosis, and temperature abnormality diagnosis on the air pump assembly 101, air tank assembly 102, and valve assembly 103. If the diagnosis results show a fault or abnormality, the controller will send an alarm to other controllers in the vehicle and shut down the entire cleaning system; if there is no fault or abnormality, the cleaning system is powered on successfully.

[0052] As mentioned earlier, the cleaning controller 105 is equipped with a comprehensive operational data monitoring and anomaly handling mechanism. The core of this mechanism is the all-round, multi-dimensional monitoring of all key components of the system, covering multiple key parameters such as power supply, pressure, and temperature. Furthermore, this mechanism can be used not only during the cleaning phase of the system's operation but also during standby.

[0053] Power supply data monitoring is the primary step. The controller continuously tracks the operating data of the air pump assembly 101, the air tank assembly 102, and the valve assembly 103. This data may include at least one of power supply data, pressure data, and temperature data. If, based on this operating data, it is determined that at least one of the air pump assembly 101, the air tank assembly 102, or the valve assembly 103 is malfunctioning, an alarm signal is sent to the vehicle controller 202.

[0054] The vehicle sensor 201 can provide audible and visual outputs to corresponding output components on the vehicle based on alarm signals, thereby alerting the user to any abnormalities in these components that require maintenance. For example, power supply data can include voltage and current status. For instance, regarding power supply data, the cleaning controller 105 can determine circuit anomalies, such as potential risks like voltage fluctuations, overcurrent, or short circuits, based on the acquired operating data. This not only protects hardware safety but also prevents potential system failures.

[0055] Pressure data monitoring is equally crucial. The cleaning controller 105 not only monitors the instantaneous pressure of the gas tank but also analyzes the trends and patterns of pressure changes. For example, when the gas tank pressure has reached a threshold range and valve assembly 103 is closed, the controller will continuously monitor the pressure for a predetermined period. If an unexpected pressure drop or rise is detected—that is, if the gas tank pressure value obtained within the predetermined period is lower than the lower limit of the threshold range or higher than the upper limit—this may indicate an airtightness problem or other potential malfunction in the system. In this case, the cleaning controller 105 will also send an alarm signal to the vehicle controller 202. The vehicle controller 202 will then transmit the alarm information to the user in an appropriate manner to facilitate maintenance of the relevant components.

[0056] Temperature monitoring provides another important health indicator. By monitoring temperature changes in the air pump assembly 101, air tank assembly 102, and valve assembly 103, the controller can detect abnormalities that may lead to overheating or performance degradation of the equipment early. For example, if the temperature of the air pump assembly 101 exceeds a preset threshold, the cleaning controller 105 will immediately take protective measures such as reducing power or shutting down the system.

[0057] As mentioned earlier, when the cleaning controller 105 detects any anomaly, it sends an alarm signal to the vehicle controller 202. This signal includes not only the type of anomaly but also the specific component where the anomaly occurred and preliminary diagnostic results. Depending on the severity of the anomaly, the system may adopt a strategy of degraded operation or complete shutdown to ensure the safety and reliability of the overall vehicle system.

[0058] This comprehensive and intelligent fault diagnosis and alarm mechanism enables the cleaning system to maintain high reliability and safety in complex vehicle environments, providing continuous and reliable cleaning services for the vehicle sensor 201.

[0059] After the self-test is completed, the cleaning system initializes in box 530. The cleaning controller 105 determines whether the air pressure in the air tank assembly 102 is within a predetermined threshold range. If it is not within the predetermined range, the air pump assembly 101 can be opened and the valve assembly 103 can be closed to bring the air pressure in the air tank assembly 102 within the threshold range. The cleaning controller 105 then continuously monitors the pressure in the air tank for any depressurization or overpressurization. If no depressurization or overpressurization occurs after a certain period of monitoring (this period can be calibrated), the cleaning system initialization is complete; if depressurization or overpressurization occurs, the cleaning controller 105 will send an alarm to the vehicle controller 202 and shut down the entire cleaning system.

[0060] After the cleaning system initialization is complete, in box 540, if the vehicle's sensor 201 requires cleaning, the sensor 201 will issue a cleaning command to the cleaning sensor 201 based on the data detected by the sensor 201 indicating that there is dirt or interference on the outer surface of the sensor 201. Upon receiving the cleaning command, the cleaning controller 105 will control the on / off timing of the valve assembly 103 according to the corresponding cleaning command, so that multiple nozzle assemblies 104 use gas from the air tank assembly 102 to clean the surface of the sensor 201 during the period when the valve assembly 103 is on. Simultaneously, the air pump assembly 101 will be intermittently turned on and off to maintain the air pressure in the air tank assembly 102 within a threshold range during cleaning. During this process, the cleaning controller 105 will also continuously perform fault diagnosis and analysis. If the controller detects a fault or abnormality in the cleaning system, the cleaning controller 105 will alarm the vehicle controller 202 and shut down the entire cleaning system or downgrade its operation.

[0061] In some embodiments, after the cleaning controller 105 receives a cleaning command sent by the vehicle controller 202, in block 550, the cleaning controller 105 controls the on / off (i.e., opening and closing) of the valve assembly 103 according to the on / off timing sequence corresponding to the cleaning command. For example, it may open for 0.1 seconds, close for 1 second, and repeat this cycle of 0.1 seconds + 1 second. The on / off timing sequence of 0.1 seconds opening and 1 second closing can be calibrated according to actual needs. Simultaneously, as mentioned above, the cleaning controller 105 controls the air pump assembly 101 to open and close, for example, continuously open, or open for a period of time and then close for a period of time, repeating this cycle. The opening and closing times of the air pump assembly 101 can also be calibrated and adjusted according to actual needs.

[0062] Different types of dirt or interference on different sensors 201 will be reflected in the data acquired by the vehicle controller 202. The vehicle sensors 201 generate corresponding cleaning commands based on the acquired data, and different cleaning commands can correspond to different on / off timing sequences. For example, different cleaning commands can be generated based on the type of sensor 201 and / or the type of dirt on the sensor 201, and corresponding to different on / off timing sequences.

[0063] The cleaning requirements for each sensor 201 are precisely defined through accurate on / off timing commands. These commands are not merely simple cleaning signals, but include detailed cleaning parameters such as cleaning duration, cleaning intensity, and cleaning frequency. For example, the cleaning commands may differ significantly for different types of sensors 201, such as LiDAR, millimeter-wave radar, or cameras.

[0064] In other words, in some embodiments, a corresponding cleaning command can be sent based on relevant information about the sensor 201 to be cleaned. This information may include the sensor type and / or the sensor's location on the vehicle. For example, in some cases, it may only be necessary to clean the sensors 201 located at the front of the vehicle. In this case, the cleaning command may include an instruction to clean at least one specific sensor 201 located at the front of the vehicle, among multiple sensors 201. The cleaning controller 105 can then control a corresponding portion of the electronically controlled valves to open and close in a specific sequence according to this cleaning command, so that the designated sensor 201 is cleaned.

[0065] Similarly, the cleaning system can also use corresponding cleaning parameters based on dirt information, specifically through on / off timing sequences, such as different cleaning durations, intensities, and frequencies. Dirt information may include, but is not limited to, the area of ​​dirt, the type of dirt, and / or the location of dirt. Furthermore, the cleaning sensor 201 can comprehensively analyze historical cleaning data, contamination levels, and cleaning effectiveness to continuously optimize cleaning parameters. For example, the system may record changes in sensor 201 performance after each cleaning session and adjust subsequent cleaning strategies accordingly.

[0066] When the vehicle is turned on and / or the cleaning system is in standby mode, as long as a cleaning command is received from the vehicle controller 202, the cleaning controller 105 will control the on / off of the corresponding electronic valve according to the on / off timing sequence corresponding to the cleaning command, thereby achieving the cleaning of the specified sensor 201.

[0067] In some embodiments, at block 560, the cleaning device is powered off or put into a dormant state if it is determined that one of the following conditions is met: the vehicle is turned off or powered off; no cleaning command is received from the vehicle control within a predetermined time. Powering off may include powering off the air pump assembly 101, powering off the valve assembly 103, and powering off the air tank assembly 102.

[0068] In some embodiments, the cleaning system also requires regular maintenance, as shown in box 570. The long-term stable operation of the system depends not only on hardware design, but also on comprehensive maintenance strategies and fault prevention mechanisms.

[0069] Regular maintenance is crucial for ensuring the long-term reliability of the system. Maintenance personnel need to conduct a comprehensive inspection of all components of the system, including the high-pressure air pump assembly 101, the air tank assembly, the solenoid valve assembly, air piping, adapters, and the nozzle module. The inspection covers multiple dimensions, including installation status, sealing, electrical connections, and mechanical integrity. Any issues such as detachment, cracking, or electrical faults must be addressed promptly.

[0070] Liquid management of the gas tank assembly is a crucial aspect of maintenance. As mentioned earlier, the system is designed with multiple methods for draining liquids, including dedicated drain valves and pressure relief valves. These mechanisms effectively prevent the accumulation of moisture and impurities in the gas tank, maintaining system cleanliness and stable performance. Regular evacuation not only extends system lifespan but also prevents potential corrosion and performance degradation issues.

[0071] The system also incorporates sophisticated self-diagnostic and early warning mechanisms. By continuously monitoring the operational status of each component, the system can provide warnings before a fault fully develops. This proactive maintenance approach minimizes the repair costs of potential faults and their impact on the overall vehicle system.

[0072] The maintenance cycle and frequency are not fixed but can be dynamically adjusted based on the actual usage of the vehicle. For example, vehicles used in dusty areas may require more frequent system maintenance, while in relatively clean environments, the maintenance interval can be appropriately extended. This adaptive maintenance strategy fully reflects the intelligence and human-centered design of the system.

[0073] Figure 6 A flowchart illustrating a method for cleaning sensor 201 according to some embodiments of the present disclosure is shown. Process 600 may be implemented at the cleaning controller 105 mentioned above or any other suitable controller. It should be understood that process 600 may include additional actions not shown and / or the actions shown may be omitted, and the scope of the present disclosure is not limited in this respect.

[0074] In block 610, the cleaning controller 105 determines whether the air pressure in the air tank assembly 102 of the cleaning device is within a predetermined threshold range. In block 620, if the air pressure is determined to be below the lower limit of the threshold range, the air pump assembly 101 of the cleaning device is turned on and the valve assembly 103 of the cleaning device is turned off, so that the air pressure in the air tank assembly 102 is within the threshold range.

[0075] In block 630, a cleaning command for sensor 201 is obtained from vehicle controller 202, and the on / off timing of valve assembly 103 is controlled based on the on / off sequence corresponding to the cleaning command, so that multiple nozzle assemblies 104 clean the surface of sensor 201 with gas from gas tank assembly 102 during the period when valve assembly 103 is on.

[0076] In box 640, the cleaning controller 105 causes the air pump assembly 101 to be turned on and off intermittently to maintain the air pressure of the air tank assembly 102 within a threshold range during cleaning.

[0077] In some embodiments, the cleaning controller 105 also receives operational data regarding the air pump assembly 101, the air tank assembly 102, and the valve assembly 103, including at least one of power supply data, pressure data, and temperature data; and determines, based on the operational data, whether at least one of the air pump assembly 101, the air tank assembly 102, and the valve assembly 103 is experiencing an abnormality. If an abnormality is determined to exist in at least one of the air pump assembly 101, the air tank assembly 102, and the valve assembly 103, an alarm signal is sent to the vehicle controller 202.

[0078] In some embodiments, when the pressure of the air tank assembly 102 has reached a threshold range and the valve assembly 103 remains closed, the cleaning controller 105 continuously acquires the air pressure value of the air tank assembly 102 within a predetermined time period; and in response to determining that the air pressure value of the air tank assembly 102 acquired within the predetermined time period is lower than the lower limit of the threshold range or higher than the upper limit of the threshold range, sends an alarm signal to the vehicle controller 202.

[0079] In some embodiments, the cleaning controller 105 may also obtain cleaning instructions for the vehicle sensors 201, wherein the cleaning instructions include an indication to clean at least one designated sensor 201 of the plurality of sensors 201; and control the on / off state of at least a portion of the electronically controlled valves in the valve assembly 103 based on the cleaning instructions, the at least a portion of the electronically controlled valves corresponding to at least one designated sensor 201, so that at least one designated sensor 201 is cleaned.

[0080] In some embodiments, the cleaning controller 105 de-energizes or puts the cleaning device into a dormant state when at least one of the following conditions is met: the vehicle is turned off or de-energized; no cleaning command is received from the vehicle control within a predetermined time.

[0081] Figure 7 A block diagram of an electronic device 700 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that... Figure 7 The electronic device 700 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 7 The electronic device 700 shown can be used to achieve Figure 1 Cleaning controller.

[0082] like Figure 7 As shown, electronic device 700 is in the form of a general-purpose electronic device. Components of electronic device 700 may include, but are not limited to, one or more processors or processing units 710, memory 720, storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 740. Processing unit 710 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 720. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of electronic device 700.

[0083] Electronic device 700 typically includes multiple computer storage media. Such media can be any available media accessible to electronic device 700, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 720 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 430 can be a removable or non-removable medium and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data (e.g., training data for training) and can be accessed within electronic device 700.

[0084] Electronic device 700 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 7 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 720 may include computer program product 725 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0085] The communication unit 740 enables communication with other electronic devices via a communication medium. Additionally, the functionality of the components of the electronic device 700 can be implemented using a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 700 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0086] Input device 750 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 740 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 700 can also communicate with one or more external devices (not shown) via communication unit 740 as needed. External devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 700, or with any device that enables electronic device 700 to communicate with one or more other electronic devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interface (not shown).

[0087] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0088] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0089] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0090] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0092] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A cleaning system for sensors, comprising: The cleaning device includes an air pump assembly (101), an air tank assembly (102), a valve assembly (103), and a plurality of nozzle assemblies (104) connected in series, the plurality of nozzle assemblies (104) being arranged adjacent to the sensor (201); and A cleaning controller (105), coupled to the cleaning device, is configured to: Determine whether the gas pressure in the gas storage tank assembly (102) is within a predetermined threshold range; In response to determining that the air pressure is below the lower limit of the threshold range, the air pump assembly (101) is turned on and the valve assembly (103) is turned off so that the air pressure in the air tank assembly (102) is within the threshold range; A cleaning command for the sensor (201) is obtained from the vehicle controller (202), and the valve assembly (103) is controlled to open and close based on the on / off timing corresponding to the cleaning command, so that the plurality of nozzle assemblies (104) clean the surface of the sensor (201) with gas from the gas tank assembly (102) during the period when the valve assembly (103) is on; and The air pump assembly (101) is turned on and off intermittently to maintain the air pressure of the air tank assembly (102) within the threshold range during cleaning.

2. The cleaning system according to claim 1, wherein the cleaning controller (105) is further configured to: Receive operating data about the air pump assembly (101), the air tank assembly (102), and the valve assembly (103), the operating data including at least one of power supply data, pressure data, and temperature data; Based on the operational data, determine whether at least one of the air pump assembly (101), the air tank assembly (102), and the valve assembly (103) is experiencing an abnormality; and In response to determining that at least one of the air pump assembly (101), the air tank assembly (102), and the valve assembly (103) is in the presence of the abnormality, an alarm signal is sent to the vehicle controller (202).

3. The cleaning system according to claim 1, wherein the cleaning controller (105) is further configured to: While the pressure of the gas storage tank assembly (102) has reached the threshold range and the valve assembly (103) remains closed, the gas pressure value of the gas storage tank assembly (102) is continuously acquired within a predetermined time period. In response to determining that the gas pressure value of the gas tank assembly (102) obtained within a predetermined time period is lower than the lower limit of the threshold range or higher than the upper limit of the threshold range, an alarm signal is sent to the vehicle controller (202).

4. The cleaning system according to claim 1, wherein the cleaning controller (105) is further configured to: Obtain a cleaning instruction for the vehicle sensor (201) from the vehicle sensor (201), wherein the cleaning instruction includes an instruction to clean at least one designated sensor (201) of a plurality of sensors (201); and Based on the cleaning command, control the on / off state of at least a portion of the electrically controlled valves in the valve assembly (103), the at least a portion of the electrically controlled valves corresponding to the at least one designated sensor (201) so that the at least one designated sensor (201) is cleaned.

5. The cleaning system according to any one of claims 1-4, wherein the cleaning controller (105) is further configured to: In response to determining that at least one of the following conditions is met, the cleaning device is powered off or enters a dormant state: the vehicle is turned off or powered off; no cleaning command is received from the vehicle control within a predetermined time.

6. A method for cleaning a sensor (201), comprising: Determine whether the air pressure in the air tank assembly (102) of the cleaning device is within a predetermined threshold range; In response to determining that the air pressure is below the lower limit of the threshold range, the air pump assembly (101) of the cleaning device is turned on and the valve assembly (103) of the cleaning device is turned off, so that the air pressure in the air tank assembly (102) is within the threshold range. A cleaning command for the sensor (201) is obtained from the vehicle controller (202), and the valve assembly (103) is controlled to open and close based on the on / off timing corresponding to the cleaning command, so that the plurality of nozzle assemblies (104) clean the surface of the sensor (201) with gas from the gas tank assembly (102) during the period when the valve assembly (103) is on; and The air pump assembly (101) is turned on and off intermittently to maintain the air pressure of the air tank assembly (102) within the threshold range during cleaning.

7. The method according to claim 6, further comprising: Receive operating data about the air pump assembly (101), the air tank assembly (102), and the valve assembly (103), the operating data including at least one of power supply data, pressure data, and temperature data; Based on the operational data, determine whether at least one of the air pump assembly (101), the air tank assembly (102), and the valve assembly (103) is experiencing an abnormality; and In response to determining that at least one of the air pump assembly (101), the air tank assembly (102), and the valve assembly (103) is in the presence of the abnormality, an alarm signal is sent to the vehicle controller (202).

8. The method according to claim 6, further comprising: While the pressure of the gas storage tank assembly (102) has reached the threshold range and the valve assembly (103) remains closed, the gas pressure value of the gas storage tank assembly (102) is continuously acquired within a predetermined time period. In response to determining that the gas pressure value of the gas tank assembly (102) obtained within a predetermined time period is lower than the lower limit of the threshold range or higher than the upper limit of the threshold range, an alarm signal is sent to the vehicle controller (202).

9. The method according to claim 6, wherein controlling the on / off timing of the valve assembly (103) based on the on / off sequence corresponding to the cleaning command includes: A cleaning instruction for the vehicle sensor (201) is obtained from the vehicle sensor (201), wherein the cleaning instruction includes an instruction to clean at least one designated sensor (201) of a plurality of sensors (201); as well as Based on the cleaning command, control the on / off state of at least a portion of the electrically controlled valves in the valve assembly (103), the at least a portion of the electrically controlled valves corresponding to the at least one designated sensor (201) so that the at least one designated sensor (201) is cleaned.

10. The method according to any one of claims 6-9, further comprising: The cleaning device is powered off or put into a dormant state in response to determining that at least one of the following conditions is met: the vehicle is turned off or powered off; No cleaning instruction was received from the vehicle control system within the scheduled time.

11. A vehicle (100), comprising: The cleaning system according to any one of claims 1-5; Multiple sensors (201); as well as A vehicle controller (202), coupled to the plurality of sensors (201) and the cleaning controller (105) of the cleaning system, is configured to: Acquire sensing data from the plurality of sensors (201); Based on the sensing data, determine whether at least some of the plurality of sensors (201) need to be cleaned; In response to determining that at least some of the sensors (201) need to be cleaned, a cleaning instruction is generated for the specified sensors (201) that need to be cleaned, the cleaning instruction including on / off timing; and The cleaning command is sent to the cleaning sensor (201).

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